Typedefs | Functions | Variables
testTOAFactor.cpp File Reference

Unit tests for "Time of Arrival" factor. More...

#include <gtsam/base/numericalDerivative.h>
#include <gtsam/nonlinear/LevenbergMarquardtOptimizer.h>
#include <gtsam/nonlinear/NonlinearFactorGraph.h>
#include <gtsam/nonlinear/expressions.h>
#include <gtsam_unstable/geometry/Event.h>
#include <gtsam_unstable/slam/TOAFactor.h>
#include <CppUnitLite/TestHarness.h>
Include dependency graph for testTOAFactor.cpp:

Go to the source code of this file.

Typedefs

typedef Expression< EventEvent_
 
typedef Expression< Point3Point3_
 

Functions

int main ()
 
static SharedNoiseModel model (noiseModel::Isotropic::Sigma(1, 0.5 *ms))
 
static const Point3 sensorAt0 (0, 0, 0)
 
 TEST (TOAFactor, NewWay)
 
 TEST (TOAFactor, WholeEnchilada)
 

Variables

static const double cm = 1e-2
 
static const Event exampleEvent (timeOfEvent, 1, 0, 0)
 
static const double ms = 1e-3
 
static const double timeOfEvent = 25
 

Detailed Description

Unit tests for "Time of Arrival" factor.

Author
Frank Dellaert
Jay Chakravarty
Date
December 2014

Definition in file testTOAFactor.cpp.

Typedef Documentation

◆ Event_

Definition at line 34 of file testTOAFactor.cpp.

◆ Point3_

Definition at line 33 of file testTOAFactor.cpp.

Function Documentation

◆ main()

int main ( void  )

Definition at line 102 of file testTOAFactor.cpp.

◆ model()

static SharedNoiseModel model ( noiseModel::Isotropic::Sigma(1, 0.5 *ms )
static

◆ sensorAt0()

static const Point3 sensorAt0 ( ,
,
 
)
static

◆ TEST() [1/2]

TEST ( TOAFactor  ,
NewWay   
)

Definition at line 48 of file testTOAFactor.cpp.

◆ TEST() [2/2]

TEST ( TOAFactor  ,
WholeEnchilada   
)

Definition at line 55 of file testTOAFactor.cpp.

Variable Documentation

◆ cm

const double cm = 1e-2
static

Definition at line 38 of file testTOAFactor.cpp.

◆ exampleEvent

const Event exampleEvent(timeOfEvent, 1, 0, 0)
static

◆ ms

const double ms = 1e-3
static

Definition at line 37 of file testTOAFactor.cpp.

◆ timeOfEvent

const double timeOfEvent = 25
static

Definition at line 43 of file testTOAFactor.cpp.



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autogenerated on Tue Jul 4 2023 02:40:56